Fig. 1. Schematic of coaxial projective imaging (CPI) system

Fig. 2. Principle of stereotactic surgical navigation based on the CPI system. (a) Schematic of the stereotactic surgical navigation; (b) picture of the CPI system

Fig. 3. Stereotactic projection system. (a) Experimental device; (b) experimental procedure

Fig. 4. Experiment of calibration board reprojection. (a) Picture of calibration chessboard; (b) picture of reprojected calibration chessboard; (c) perspective transformation of Fig. 4(a); (d) perspective transformation of Fig. 4(b); (e) scatter plot of projection error of chessboard's corners

Fig. 5. Error map of stereotactic projection

Fig. 6. Pictures of the phantom experiment. (a) The reference is placed next to the head phantom with the incision and the tumor boundaries projected. (b)(c) top and side views of the projected incision boundary; (d)(e) top and side views of the projected tumor boundary at 1 cm incision depth; (f)(g) top and side views of the projected tumor boundary at 2 cm incision depth; (h)(k) top and side views of the projected tumor boundary orthotopic